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Merge remote-tracking branch 'origin/anti-top' into anti-top

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sun
2019-07-19 23:27:42 +08:00
parent 39b32bf339 d0c49f43ad
commit 6e864cc52d
17 changed files with 26873 additions and 18291 deletions
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4
armor/include/armor_finder/armor_finder.h
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@@ -108,7 +108,7 @@ private:
Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量 Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量
const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化 const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化
ArmorBox::BoxOrientation last_orient; // 上一帧目标装甲板方向，用于反陀螺 ArmorBox::BoxOrientation last_orient; // 上一帧目标装甲板方向，用于反陀螺
timeval last_switch_time; // 上一次发生装甲板方向切换的时间 timeval last_front_time; // 上一次发生装甲板方向切换的时间
int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺 int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺
AntiTopState anti_top_state; // 当前是否识别到陀螺 AntiTopState anti_top_state; // 当前是否识别到陀螺
@@ -123,7 +123,7 @@ private:
public: public:
void run(cv::Mat &src); // 自瞄主函数 void run(cv::Mat &src); // 自瞄主函数
bool sendBoxPosition(); // 和主控板通讯 bool sendBoxPosition(bool shoot); // 和主控板通讯
}; };
#endif /* _ARMOR_FINDER_H_ */ #endif /* _ARMOR_FINDER_H_ */

55
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -3,43 +3,60 @@
// //
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include <log.h>
static double getTimeIntervalms(const timeval& now, const timeval &last){ static double getTimeIntervalms(const timeval& now, const timeval &last){
return (now.tv_sec-last.tv_sec)*1000.0 + (now.tv_usec-last.tv_usec)/1000.0; return (now.tv_sec-last.tv_sec)*1000.0 + (now.tv_usec-last.tv_usec)/1000.0;
} }
void ArmorFinder::antiTop() { void ArmorFinder::antiTop() {
if(anti_top_state == ANTI_TOP){ static double top_periodms = 0;
static double last_top_periodms = 0;
timeval curr_time;
bool shoot = 0;
/*if(anti_top_state == ANTI_TOP){
cout << "anti top" << endl; cout << "anti top" << endl;
}else if(anti_top_state == NORMAL){ }else if(anti_top_state == NORMAL){
cout << "Normal" << endl; cout << "Normal" << endl;
} }*/
ArmorBox::BoxOrientation orientation = armor_box.getOrientation(); ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
if(orientation == ArmorBox::UNKNOWN){ if(orientation == ArmorBox::UNKNOWN){
if(anti_top_state == NORMAL){ if(anti_top_state == NORMAL){
sendBoxPosition(); sendBoxPosition(shoot);
return; return;
}else{ }else{
return; return;
} }
} }
if(orientation!=last_orient){ gettimeofday(&curr_time, nullptr);
timeval curr_time; auto interval = getTimeIntervalms(curr_time, last_front_time);
gettimeofday(&curr_time, nullptr); LOGM("interval:%.1lf", interval);
auto interval = getTimeIntervalms(curr_time, last_switch_time); if(anti_top_state == ANTI_TOP && (top_periodms+last_top_periodms)/2.0-130<interval&&interval<(top_periodms+last_top_periodms)/2.0-70){
cout << interval << endl; shoot = 1;
if(50 < interval && interval < 700){ // LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
anti_top_cnt++; }else if(interval > 700){
}else{ anti_top_state = NORMAL;
anti_top_cnt = 0;
}
if(orientation != last_orient){
if(interval > 700){
anti_top_cnt = 0; anti_top_cnt = 0;
}
last_switch_time = curr_time;
}else{
timeval curr_time;
gettimeofday(&curr_time, nullptr);
if(getTimeIntervalms(curr_time, last_switch_time) > 700) {
anti_top_state = NORMAL; anti_top_state = NORMAL;
if(orientation == ArmorBox::FRONT){
last_front_time = curr_time;
}
}else if(interval > 150){
if(orientation == ArmorBox::FRONT){
anti_top_cnt++;
if(anti_top_state == ANTI_TOP){
last_top_periodms = top_periodms;
top_periodms = interval;
LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), top_periodms);
}
last_front_time = curr_time;
}
} }
last_orient = orientation;
} }
if(anti_top_cnt > 4){ if(anti_top_cnt > 4){
anti_top_state = ANTI_TOP; anti_top_state = ANTI_TOP;
@@ -47,10 +64,10 @@ void ArmorFinder::antiTop() {
if(anti_top_state == ANTI_TOP){ if(anti_top_state == ANTI_TOP){
if(orientation == ArmorBox::FRONT){ if(orientation == ArmorBox::FRONT){
sendBoxPosition(); sendBoxPosition(shoot);
} }
}else if(anti_top_state == NORMAL){ }else if(anti_top_state == NORMAL){
sendBoxPosition(); sendBoxPosition(shoot);
} }

6
armor/src/armor_finder/armor_box/armor_box.cpp
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@@ -53,9 +53,11 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
switch (id) { switch (id) {
case R1: case R1:
case R7: case R7:
case R8:
case B1: case B1:
case B7: case B7:
if(lengthDistanceRatio() < 0.3){ case B8:
if(lengthDistanceRatio() < 0.30){
return FRONT; return FRONT;
}else{ }else{
return SIDE; return SIDE;
@@ -68,7 +70,7 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
case B3: case B3:
case B4: case B4:
case B5: case B5:
if (lengthDistanceRatio() < 0.43) { if (lengthDistanceRatio() < 0.45) {
return FRONT; return FRONT;
}else{ }else{
return SIDE; return SIDE;

3
armor/src/armor_finder/find/find_light_blobs.cpp
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@@ -3,6 +3,7 @@
// //
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include <options/options.h>
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
static double lw_rate(const cv::RotatedRect &rect) { static double lw_rate(const cv::RotatedRect &rect) {
@@ -124,7 +125,7 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
cv::threshold(color_channel, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道 cv::threshold(color_channel, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin); // 开闭运算 imagePreProcess(src_bin); // 开闭运算
if(src_bin.size() == cv::Size(640, 480)) if(src_bin.size() == cv::Size(640, 480) && show_light_blobs)
imshow("bin", src_bin); imshow("bin", src_bin);
std::vector<std::vector<cv::Point> > light_contours; std::vector<std::vector<cv::Point> > light_contours;

12
armor/src/armor_finder/send_target/send_target.cpp
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@@ -4,11 +4,11 @@
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
static bool sendTarget(Serial &serial, double x, double y, double z) { static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t shoot) {
static short x_tmp, y_tmp, z_tmp; static short x_tmp, y_tmp, z_tmp;
static time_t last_time = time(nullptr); static time_t last_time = time(nullptr);
static int fps; static int fps;
uint8_t buff[8]; uint8_t buff[9];
time_t t = time(nullptr); time_t t = time(nullptr);
if (last_time != t) { if (last_time != t) {
@@ -29,12 +29,14 @@ static bool sendTarget(Serial &serial, double x, double y, double z) {
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF); buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF); buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF); buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
buff[7] = 'e'; buff[7] = shoot;
buff[8] = 'e';
return serial.WriteData(buff, sizeof(buff)); return serial.WriteData(buff, sizeof(buff));
} }
bool ArmorFinder::sendBoxPosition() { bool ArmorFinder::sendBoxPosition(bool shoot) {
if(armor_box.rect == cv::Rect2d()) return false;
auto rect = armor_box.rect; auto rect = armor_box.rect;
double dx = rect.x + rect.width / 2 - 320; double dx = rect.x + rect.width / 2 - 320;
double dy = rect.y + rect.height / 2 - 240 - 20; double dy = rect.y + rect.height / 2 - 240 - 20;
@@ -42,5 +44,5 @@ bool ArmorFinder::sendBoxPosition() {
double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI; double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
double dist = DISTANCE_HEIGHT / rect.height; double dist = DISTANCE_HEIGHT / rect.height;
// cout << yaw << endl; // cout << yaw << endl;
return sendTarget(serial, yaw, -pitch, dist); return sendTarget(serial, yaw, -pitch, dist, shoot);
} }

2
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体 mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch角 0, // 当前云台pitch角
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符 ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 ENEMY_RED, // 敌方颜色

2
others/src/camera/camera_wrapper.cpp
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@@ -83,7 +83,7 @@ bool CameraWrapper::init() {
CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN); CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN);
CameraSetLutMode(h_camera, LUTMODE_PRESET); CameraSetLutMode(h_camera, LUTMODE_PRESET);
} }
CameraSetOnceWB(h_camera); // CameraSetOnceWB(h_camera);
#endif #endif
double t; double t;
CameraGetExposureTime(h_camera, &t); CameraGetExposureTime(h_camera, &t);

12
tools/TrainCNN/backward.py
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@@ -54,9 +54,9 @@ def save_para(folder, paras):
save_bias(fp, paras[7]) save_bias(fp, paras[7])
STEPS = 20000 STEPS = 100000
BATCH = 50 BATCH = 50
LEARNING_RATE_BASE = 0.005 LEARNING_RATE_BASE = 0.001
LEARNING_RATE_DECAY = 0.99 LEARNING_RATE_DECAY = 0.99
MOVING_AVERAGE_DECAY = 0.99 MOVING_AVERAGE_DECAY = 0.99
@@ -101,7 +101,7 @@ def train(dataset, show_bar=False):
_, loss_value, step = sess.run( _, loss_value, step = sess.run(
[train_op, loss, global_step], [train_op, loss, global_step],
feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.5} feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.3}
) )
if i % 100 == 0: if i % 100 == 0:
@@ -206,9 +206,9 @@ def train(dataset, show_bar=False):
if __name__ == "__main__": if __name__ == "__main__":
# import os import os
# os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID" os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID"
# os.environ["CUDA_VISIBLE_DEVICES"] = "-1" os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
dataset = generate.DataSet("/home/xinyang/Workspace/box_cut") dataset = generate.DataSet("/home/xinyang/Workspace/box_cut")
train(dataset, show_bar=True) train(dataset, show_bar=True)
input("press enter to continue...") input("press enter to continue...")

2
tools/TrainCNN/forward.py
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@@ -38,7 +38,7 @@ CONV2_KERNAL_SIZE = 3
CONV2_OUTPUT_CHANNELS = 12 CONV2_OUTPUT_CHANNELS = 12
# 第一层全连接宽度 # 第一层全连接宽度
FC1_OUTPUT_NODES = 20 FC1_OUTPUT_NODES = 30
# 第二层全连接宽度（输出标签类型数） # 第二层全连接宽度（输出标签类型数）
FC2_OUTPUT_NODES = 15 FC2_OUTPUT_NODES = 15

12
tools/para/conv1_b
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@@ -1,7 +1,7 @@
6 6
0.71588296 0.3149763
0.11027224 -0.014892017
0.5223108 2.3465085
2.472485 0.00036684246
0.27160552 -0.15470123
2.29277 1.5563219

900
tools/para/conv1_w
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@@ -2,453 +2,453 @@
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